function [x_pe_hip_vec] = pe_hip_vec(x)
x_pe_hip_vec=[0.0004.*((-127.).*(3..*cos(x(3)) + sin(x(3)) + 8..*(sin(x(3) + x( ...
  4)) + sin(x(3) + x(4) + x(5)))) + 2500..*x(1)),0.0004.*(127..*( ...
  cos(x(3)) + 8..*cos(x(3) + x(4)) + 8..*cos(x(3) + x(4) + x(5)) + ( ...
  -3.).*sin(x(3))) + 2500..*x(2))];
